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<h1>QVKLTTracker Class Reference<br/>
<small>
[<a class="el" href="group__qvgpukltflow.html">GPU-KLT+FLOW wrapper functions and classes</a>]</small>
</h1><!-- doxytag: class="QVKLTTracker" -->
<p>Wrapper class to perform image feature tracking with the GPU-KLT library.  
<a href="#_details">More...</a></p>

<p><code>#include &lt;<a class="el" href="qvklttracker_8h_source.html">QVKLTTracker</a>&gt;</code></p>

<p><a href="classQVKLTTracker-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVKLTTracker.html#af77f1ffb76ad088fac619b304e93bfdc">QVKLTTracker</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default constructor Do nothing.  <a href="#af77f1ffb76ad088fac619b304e93bfdc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVKLTTracker.html#a4999f87522dc7fe65ce4f2b6a890a06b">QVKLTTracker</a> (int width, int height, bool trackWithGain=true, int featuresWidth=64, int featuresHeight=64, int nIterations=10, int nLevels=4, int levelSkip=1, int windowWidth=7, float trackBorderMargin=20.0f, float detectBorderMargin=20.0f, float convergenceThreshold=0.1f, float SSD_Threshold=5000.0f, int minDistance=7, float minCornerness=50.0f)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Allocation constructor.  <a href="#a4999f87522dc7fe65ce4f2b6a890a06b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVKLTTracker.html#ae2de72693116f879c6c07d017e719408">~QVKLTTracker</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Deallocate the tracker from the GPU.  <a href="#ae2de72693116f879c6c07d017e719408"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVKLTTracker.html#a6047e10322f0d4ed95ad61a787fdfebb">detect</a> (const <a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 1 &gt; &amp;image, QHash&lt; int, <a class="el" href="classQVKLTTrackerFeature.html">QVKLTTrackerFeature</a> &gt; &amp;features)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Detect all features in image from scratch.  <a href="#a6047e10322f0d4ed95ad61a787fdfebb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVKLTTracker.html#affe245d7de2e04d06d4bca4439d80009">redetect</a> (const <a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 1 &gt; &amp;image, QHash&lt; int, <a class="el" href="classQVKLTTrackerFeature.html">QVKLTTrackerFeature</a> &gt; &amp;features)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Detect new features while respecting old ones.  <a href="#affe245d7de2e04d06d4bca4439d80009"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classQVKLTTracker.html#a03abf973b520dbd9ce624c5977b973ba">track</a> (const <a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 1 &gt; &amp;image, QHash&lt; int, <a class="el" href="classQVKLTTrackerFeature.html">QVKLTTrackerFeature</a> &gt; &amp;features)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Track features in the hash.  <a href="#a03abf973b520dbd9ce624c5977b973ba"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Wrapper class to perform image feature tracking with the GPU-KLT library. </p>

<p>Definition at line <a class="el" href="qvklttracker_8h_source.html#l00077">77</a> of file <a class="el" href="qvklttracker_8h_source.html">qvklttracker.h</a>.</p>
<hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="af77f1ffb76ad088fac619b304e93bfdc"></a><!-- doxytag: member="QVKLTTracker::QVKLTTracker" ref="af77f1ffb76ad088fac619b304e93bfdc" args="()" -->
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          <td class="memname">QVKLTTracker::QVKLTTracker </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td><code> [inline]</code></td>
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<p>Default constructor Do nothing. </p>

<p>Definition at line <a class="el" href="qvklttracker_8h_source.html#l00084">84</a> of file <a class="el" href="qvklttracker_8h_source.html">qvklttracker.h</a>.</p>

</div>
</div>
<a class="anchor" id="a4999f87522dc7fe65ce4f2b6a890a06b"></a><!-- doxytag: member="QVKLTTracker::QVKLTTracker" ref="a4999f87522dc7fe65ce4f2b6a890a06b" args="(int width, int height, bool trackWithGain=true, int featuresWidth=64, int featuresHeight=64, int nIterations=10, int nLevels=4, int levelSkip=1, int windowWidth=7, float trackBorderMargin=20.0f, float detectBorderMargin=20.0f, float convergenceThreshold=0.1f, float SSD_Threshold=5000.0f, int minDistance=7, float minCornerness=50.0f)" -->
<div class="memitem">
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          <td class="memname">QVKLTTracker::QVKLTTracker </td>
          <td>(</td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>width</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>height</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&nbsp;</td>
          <td class="paramname"> <em>trackWithGain</em> = <code>true</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>featuresWidth</em> = <code>64</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>featuresHeight</em> = <code>64</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>nIterations</em> = <code>10</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>nLevels</em> = <code>4</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>levelSkip</em> = <code>1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>windowWidth</em> = <code>7</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&nbsp;</td>
          <td class="paramname"> <em>trackBorderMargin</em> = <code>20.0f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&nbsp;</td>
          <td class="paramname"> <em>detectBorderMargin</em> = <code>20.0f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&nbsp;</td>
          <td class="paramname"> <em>convergenceThreshold</em> = <code>0.1f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&nbsp;</td>
          <td class="paramname"> <em>SSD_Threshold</em> = <code>5000.0f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&nbsp;</td>
          <td class="paramname"> <em>minDistance</em> = <code>7</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&nbsp;</td>
          <td class="paramname"> <em>minCornerness</em> = <code>50.0f</code></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Allocation constructor. </p>
<p>This method initializes and configures a new tracker with parameters below. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>width</em>&nbsp;</td><td>Number of cols of the images. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>height</em>&nbsp;</td><td>Number of rows of the images. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>trackWithGain</em>&nbsp;</td><td>Wether the tracker uses the gain in the tracking method or not. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>featuresWidth</em>&nbsp;</td><td>featuresWidth*featuresHeight gives the maximum number of features to track. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>featuresHeight</em>&nbsp;</td><td>featuresWidth*featuresHeight gives the maximum number of features to track. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>nIterations</em>&nbsp;</td><td>Number of iterations. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>nLevels</em>&nbsp;</td><td>Number of pyramid levels to skip. Reasonable values are 1 (all levels) and nLevels-1 (2 levels only) </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>levelSkip</em>&nbsp;</td><td>Number of pyramid levels to skip. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>windowWidth</em>&nbsp;</td><td>Size of KLT window. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>trackBorderMargin</em>&nbsp;</td><td>Size of the border image margin when tracking. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>detectBorderMargin</em>&nbsp;</td><td>Size of the border image margin when redetecting. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>convergenceThreshold</em>&nbsp;</td><td>Convergence threshold for KLT. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>SSD_Threshold</em>&nbsp;</td><td>SSD threshold for KLT. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>minDistance</em>&nbsp;</td><td>Minimum distance among tracked features. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>minConnerness</em>&nbsp;</td><td>Minimum degree of cornerness for detecting new features. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvklttracker_8cpp_source.html#l00027">27</a> of file <a class="el" href="qvklttracker_8cpp_source.html">qvklttracker.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="ae2de72693116f879c6c07d017e719408"></a><!-- doxytag: member="QVKLTTracker::~QVKLTTracker" ref="ae2de72693116f879c6c07d017e719408" args="()" -->
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          <td class="memname">QVKLTTracker::~QVKLTTracker </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
        </tr>
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<div class="memdoc">

<p>Deallocate the tracker from the GPU. </p>

<p>Definition at line <a class="el" href="qvklttracker_8cpp_source.html#l00058">58</a> of file <a class="el" href="qvklttracker_8cpp_source.html">qvklttracker.cpp</a>.</p>

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</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a6047e10322f0d4ed95ad61a787fdfebb"></a><!-- doxytag: member="QVKLTTracker::detect" ref="a6047e10322f0d4ed95ad61a787fdfebb" args="(const QVImage&lt; uChar, 1 &gt; &amp;image, QHash&lt; int, QVKLTTrackerFeature &gt; &amp;features)" -->
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          <td class="memname">void QVKLTTracker::detect </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 1 &gt; &amp;&nbsp;</td>
          <td class="paramname"> <em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">QHash&lt; int, <a class="el" href="classQVKLTTrackerFeature.html">QVKLTTrackerFeature</a> &gt; &amp;&nbsp;</td>
          <td class="paramname"> <em>features</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Detect all features in image from scratch. </p>
<p>This method builds a hash with freshly detected features. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>image</em>&nbsp;</td><td>Input image. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>features</em>&nbsp;</td><td>Pointer to created hash. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvklttracker_8cpp_source.html#l00100">100</a> of file <a class="el" href="qvklttracker_8cpp_source.html">qvklttracker.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="affe245d7de2e04d06d4bca4439d80009"></a><!-- doxytag: member="QVKLTTracker::redetect" ref="affe245d7de2e04d06d4bca4439d80009" args="(const QVImage&lt; uChar, 1 &gt; &amp;image, QHash&lt; int, QVKLTTrackerFeature &gt; &amp;features)" -->
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          <td class="memname">void QVKLTTracker::redetect </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 1 &gt; &amp;&nbsp;</td>
          <td class="paramname"> <em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">QHash&lt; int, <a class="el" href="classQVKLTTrackerFeature.html">QVKLTTrackerFeature</a> &gt; &amp;&nbsp;</td>
          <td class="paramname"> <em>features</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Detect new features while respecting old ones. </p>
<p>This method updates the feature hash with new features while respecting old ones. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>image</em>&nbsp;</td><td>Input image. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>features</em>&nbsp;</td><td>Pointer to hash that will be updated. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="qvklttracker_8cpp_source.html#l00110">110</a> of file <a class="el" href="qvklttracker_8cpp_source.html">qvklttracker.cpp</a>.</p>

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</div>
<a class="anchor" id="a03abf973b520dbd9ce624c5977b973ba"></a><!-- doxytag: member="QVKLTTracker::track" ref="a03abf973b520dbd9ce624c5977b973ba" args="(const QVImage&lt; uChar, 1 &gt; &amp;image, QHash&lt; int, QVKLTTrackerFeature &gt; &amp;features)" -->
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          <td class="memname">void QVKLTTracker::track </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classQVImage.html">QVImage</a>&lt; uChar, 1 &gt; &amp;&nbsp;</td>
          <td class="paramname"> <em>image</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">QHash&lt; int, <a class="el" href="classQVKLTTrackerFeature.html">QVKLTTrackerFeature</a> &gt; &amp;&nbsp;</td>
          <td class="paramname"> <em>features</em></td><td>&nbsp;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
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<p>Track features in the hash. </p>
<p>This method updates the hash with the new positions of the features, deleting the lost ones. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>image</em>&nbsp;</td><td>Input image </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>features</em>&nbsp;</td><td>Pointer to hash that will be updated. </td></tr>
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  </dd>
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<p>Definition at line <a class="el" href="qvklttracker_8cpp_source.html#l00120">120</a> of file <a class="el" href="qvklttracker_8cpp_source.html">qvklttracker.cpp</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/qvgpukltflow/<a class="el" href="qvklttracker_8h_source.html">qvklttracker.h</a></li>
<li>src/qvgpukltflow/<a class="el" href="qvklttracker_8cpp_source.html">qvklttracker.cpp</a></li>
</ul>
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</td></tr></table>

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<center><a href="http://perception.inf.um.es/QVision">QVision framework</a>.
<a href="http://perception.inf.um.es">PARP research group</a>.
Copyright &copy; 2007, 2008, 2009, 2010, 2011.</center>
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